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<h1>mdl_stanford</h1><p><span class="helptopic">Create model of Stanford arm</span></p><pre style="width: 90%%;" class="examples">
mdl_stanford
</pre>
<p>
Script creates the workspace variable stanf which describes the
kinematic and dynamic characteristics of the Stanford (Scheinman) arm.

</p>
<p>
Also defines the vectors:

</p>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> qz</td> <td>zero joint angle configuration.</td></tr>
</table>
<h2>Note</h2>
<ul>
  <li>Gear ratios not currently known, though reflected armature inertia
is known, so gear ratios are set to 1.</li>
</ul>
<h2>References</h2>
<ul>
  <li>Kinematic data from "Modelling, Trajectory calculation and Servoing of
a computer controlled arm".  Stanford AIM-177.  Figure 2.3</li>
  <li>Dynamic data from "Robot manipulators: mathematics, programming and control"
Paul 1981, Tables 6.4, 6.6</li>
</ul>
<h2>See also</h2>
<p>
<a href="matlab:doc SerialLink">SerialLink</a>, <a href="matlab:doc mdl_puma560">mdl_puma560</a>, <a href="matlab:doc mdl_puma560akb">mdl_puma560akb</a>, <a href="matlab:doc mdl_twolink">mdl_twolink</a></p>
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